repo/traffic-intelligence: python/objectsmoothing.py annotate

annotate python/objectsmoothing.py @ 619:dc2d0a0d7fe1

merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Wed, 10 Dec 2014 15:27:08 -0500
parents	6ee8765bb8db
children	9fe254f11743

rev	line source
619 dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	1 import storage, moving, utils
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	2 from math import * #atan2,asin,degrees,sin,cos,pi
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	3 import numpy as np
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	4
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	5 import matplotlib.pyplot as plt
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	6
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	7 def findNearest(feat, featureSet,t,reverse=True):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	8 dist={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	9 for f in featureSet:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	10 if reverse:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	11 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t+1),f.getPositionAtInstant(t))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	12 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	13 dist[f]= moving.Point.distanceNorm2(feat.getPositionAtInstant(t-1),f.getPositionAtInstant(t))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	14 return min(dist, key=dist.get) # = utils.argmaxDict(dist)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	15
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	16 def getFeatures(obj,features,featureID):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	17 #longestFeature = utils.argmaxDict({f:f.length() for i,f in enumerate(obj.features)})
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	18 t1,t3 = features[featureID].getFirstInstant(), features[featureID].getLastInstant()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	19 listFeatures=[[features[featureID],t1,t3,moving.Point(0,0)]]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	20 # find the features to fill in the beginning of the object existence
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	21 currentFeature = features[featureID]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	22 while t1!=obj.getFirstInstant():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	23 delta=listFeatures[-1][3]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	24 featureSet = [f for f in obj.features if f.existsAtInstant(t1-1)]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	25 feat = findNearest(currentFeature,featureSet,t1-1,reverse=True)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	26 if feat.existsAtInstant(t1):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	27 listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1))+delta])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	28 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	29 listFeatures.append([feat,feat.getFirstInstant(),t1-1,(currentFeature.getPositionAtInstant(t1)-feat.getPositionAtInstant(t1-1))+delta])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	30 currentFeature = feat
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	31 t1= feat.getFirstInstant()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	32 # find the features to fill in the end of the object existence
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	33 delta=moving.Point(0,0)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	34 currentFeature = features[featureID]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	35 while t3!= obj.getLastInstant():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	36 featureSet = [f for f in obj.features if f.existsAtInstant(t3+1)]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	37 feat = findNearest(currentFeature,featureSet,t3+1,reverse=False)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	38 if feat.existsAtInstant(t3):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	39 listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3))+delta])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	40 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	41 listFeatures.append([feat,t3+1,feat.getLastInstant(),(currentFeature.getPositionAtInstant(t3)-feat.getPositionAtInstant(t3+1))+delta])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	42 currentFeature = feat
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	43 t3= feat.getLastInstant()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	44 delta=listFeatures[-1][3]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	45 return listFeatures
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	46
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	47 def buildFeature(obj,features,featureID,num=1):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	48 listFeatures= getFeatures(obj,features,featureID)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	49 tmp={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	50 delta={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	51 for i in listFeatures:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	52 for t in xrange(i[1],i[2]+1):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	53 tmp[t]=[i[0],i[3]]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	54 newTraj = moving.Trajectory()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	55
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	56 for instant in obj.getTimeInterval():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	57 newTraj.addPosition(tmp[instant][0].getPositionAtInstant(instant)+tmp[instant][1])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	58 newFeature= moving.MovingObject(num,timeInterval=obj.getTimeInterval(),positions=newTraj)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	59 return newFeature
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	60
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	61 def getBearing(p1,p2,p3):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	62 angle = degrees(atan2(p3.y -p1.y, p3.x -p1.x))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	63 bearing1 = (90 - angle) % 360
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	64 angle2 = degrees(atan2(p2.y -p1.y, p2.x -p1.x))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	65 bearing2 = (90 - angle2) % 360
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	66 dist= moving.Point.distanceNorm2(p1, p2)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	67 return [dist,bearing1,bearing2,bearing2-bearing1]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	68
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	69 #Quantitative analysis "CSJ" functions
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	70 def computeVelocities (object,smoothing=True,halfWidth=3): #compute velocities from positions
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	71 velocities={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	72 for i in list(object.timeInterval)[:-1]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	73 p1= object.getPositionAtInstant(i)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	74 p2= object.getPositionAtInstant(i+1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	75 velocities[i]=p2-p1
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	76 velocities[object.getLastInstant()]= velocities[object.getLastInstant()-1] # duplicate last point
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	77 if smoothing:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	78 velX= [velocities[y].aslist()[0] for y in sorted(velocities.keys())]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	79 velY= [velocities[y].aslist()[1] for y in sorted(velocities.keys())]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	80 v1= list(utils.filterMovingWindow(velX, halfWidth))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	81 v2= list(utils.filterMovingWindow(velY, halfWidth))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	82 smoothedVelocity={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	83 for t,i in enumerate(sorted(velocities.keys())):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	84 smoothedVelocity[i]=moving.Point(v1[t], v2[t])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	85 velocities=smoothedVelocity
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	86 return velocities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	87
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	88 def computeAcceleration (object,fromPosition=True):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	89 acceleration={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	90 if fromPosition:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	91 velocities=computeVelocities(object,False,1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	92 for i in sorted (velocities.keys()):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	93 if i != sorted (velocities.keys())[-1]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	94 acceleration[i]= velocities[i+1]-velocities[i]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	95 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	96 for i in list(object.timeInterval)[:-1]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	97 v1= object.getVelocityAtInstant(i)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	98 v2= object.getVelocityAtInstant(i+1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	99 acceleration[i]= v2-v1
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	100 return acceleration
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	101
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	102 def computeJerk (object,fromPosition=True):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	103 jerk={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	104 acceleration=computeAcceleration (object,fromPosition=fromPosition)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	105 for i in sorted (acceleration.keys()):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	106 if i != sorted (acceleration.keys())[-1]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	107 jerk[i]= (acceleration[i+1]-acceleration[i]).norm2()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	108 return jerk
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	109
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	110 def sumSquaredJerk (object,fromPosition=True):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	111 jerk= computeJerk (object,fromPosition=fromPosition)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	112 t=0
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	113 for i in sorted(jerk.keys()):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	114 t+= jerk[i]* jerk[i]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	115 return t
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	116
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	117 def smoothObjectTrajectory(obj,features,featureID,newNum,smoothing=False,halfWidth=3,create=False):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	118 results=[]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	119 bearing={}
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	120 if create:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	121 feature= buildFeature(obj,features,featureID,num=1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	122 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	123 feature=features[featureID]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	124 for t in feature.getTimeInterval():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	125 p1= feature.getPositionAtInstant(t)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	126 p2= obj.getPositionAtInstant(t)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	127 if t!=feature.getLastInstant():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	128 p3= feature.getPositionAtInstant(t+1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	129 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	130 p1= feature.getPositionAtInstant(t-1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	131 p3= feature.getPositionAtInstant(t)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	132 bearing[t]= getBearing(p1,p2,p3)[1]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	133 results.append(getBearing(p1,p2,p3))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	134
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	135
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	136 medianResults=np.median(results,0)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	137 dist= medianResults[0]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	138 angle= medianResults[3]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	139
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	140 for i in sorted(bearing.keys()):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	141 bearing[i]= bearing[i]+angle
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	142
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	143 if smoothing:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	144 bearingInput=[]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	145 for i in sorted(bearing.keys()):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	146 bearingInput.append(bearing[i])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	147 import utils
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	148 bearingOut=utils.filterMovingWindow(bearingInput, halfWidth)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	149 for t,i in enumerate(sorted(bearing.keys())):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	150 bearing[i]=bearingOut[t]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	151
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	152 #solve a smoothing problem in case of big drop in computing bearing (0,360)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	153 for t,i in enumerate(sorted(bearing.keys())):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	154 if i!= max(bearing.keys()) and abs(bearingInput[t] - bearingInput[t+1])>=340:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	155 for x in xrange(max(i-halfWidth,min(bearing.keys())),min(i+halfWidth,max(bearing.keys()))+1):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	156 bearing[x]=bearingInput[t-i+x]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	157
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	158 translated = moving.Trajectory()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	159 for t in feature.getTimeInterval():
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	160 p1= feature.getPositionAtInstant(t)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	161 p1.x = p1.x + distsin(bearing[t]pi/180)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	162 p1.y = p1.y + distcos(bearing[t]pi/180)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	163 translated.addPosition(p1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	164
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	165 #modify first and last un-smoothed positions (half width)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	166 if smoothing:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	167 d1= translated[halfWidth]- feature.positions[halfWidth]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	168 d2= translated[-halfWidth-1]- feature.positions[-halfWidth-1]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	169 for i in xrange(halfWidth):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	170 p1= feature.getPositionAt(i)+d1
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	171 p2= feature.getPositionAt(-i-1)+d2
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	172 translated.setPosition(i,p1)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	173 translated.setPosition(-i-1,p2)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	174
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	175 newObj= moving.MovingObject(newNum,timeInterval=feature.getTimeInterval(),positions=translated)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	176 return newObj
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	177
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	178 def smoothObjectTrajectory(obj,features,newNum,minLengthParam=0.7,smoothing=False,plotResults=True,halfWidth=3,computeVelocities=True,optimize=True,create=False):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	179 featureList=[i.num for i in obj.features if i.length() >= minLengthParam*obj.length()]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	180 if featureList==[]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	181 featureList.append(longestFeature(obj))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	182 create=True
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	183 objs=[]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	184 for featureID in featureList:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	185 objTMP=smoothObjectTrajectory(obj,features,featureID,newNum,smoothing=smoothing,halfWidth=halfWidth,create=create)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	186 objs.append(objTMP)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	187 newTranslated = moving.Trajectory()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	188 newInterval=[]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	189 for t in obj.timeInterval:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	190 xCoord=[]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	191 yCoord=[]
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	192 for i in objs:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	193 if i.existsAtInstant(t):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	194 p1= i.getPositionAtInstant(t)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	195 xCoord.append(p1.x)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	196 yCoord.append(p1.y)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	197 if xCoord!=[]:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	198 tmp= moving.Point(np.median(xCoord),np.median(yCoord))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	199 newInterval.append(t)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	200 newTranslated.addPosition(tmp)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	201
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	202 newObj= moving.MovingObject(newNum,timeInterval=moving.TimeInterval(min(newInterval),max(newInterval)),positions=newTranslated)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	203
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	204 if computeVelocities:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	205 tmpTraj = moving.Trajectory()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	206 velocities= computeVelocities(newObj,True,5)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	207 for i in sorted(velocities.keys()):
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	208 tmpTraj.addPosition(velocities[i])
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	209 newObj.velocities=tmpTraj
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	210 else:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	211 newObj.velocities=obj.velocities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	212
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	213 if optimize:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	214 csj1= sumSquaredJerk (obj,fromPosition=True)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	215 csj2= sumSquaredJerk (newObj,fromPosition=True)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	216 if csj1<csj2:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	217 newObj=obj
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	218 newObj.velocities=obj.velocities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	219 if computeVelocities and csj1>=csj2:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	220 csj3= sumSquaredJerk (obj,fromPosition=False)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	221 csj4= sumSquaredJerk (newObj,fromPosition=False)
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	222 if csj4<=csj3:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	223 newObj.velocities= obj.velocities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	224 newObj.featureNumbers=obj.featureNumbers
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	225 newObj.features=obj.features
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	226 newObj.userType=obj.userType
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	227 if plotResults:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	228 plt.figure()
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	229 plt.title('objects_id = {}'.format(obj.num))
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	230 for i in featureList:
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	231 features[i].plot('cx-')
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	232 obj.plot('rx-')
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	233 newObj.plot('gx-')
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 612 diff changeset	234 return newObj

Mercurial Hosting > traffic-intelligence

annotate python/objectsmoothing.py @ 619:dc2d0a0d7fe1